KWAK

Server_CoAP/triangulation.py

@@ -67,7 +67,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
         meet1[1][1]=line_position[1][2]/line_position[1][1]
         meet2[1][1]=meet1[0][1]
         meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
-        meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[0][1]-b1))
+        meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))
         if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
             meet_result[1][0]=meet2[1][0]
             meet_result[1][1]=meet2[1][1]
@@ -116,7 +116,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
         meet1[2][0]=line_position[2][2]/line_position[2][0]
         meet2[2][0]=meet1[2][0]
         meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
-        meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a1)*(meet1[2][0]-a2))
+        meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))
         if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
             meet_result[2][0]=meet2[2][0]
             meet_result[2][1]=meet2[2][1]
@@ -125,8 +125,8 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             meet_result[2][1]=meet1[2][1]
     else:
         a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
-        b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b1/line_position[2][1])
-        c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b1/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
+        b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b2/line_position[2][1])
+        c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b2/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
         meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
         meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
         meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
@@ -209,9 +209,24 @@ def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의
 #    print("x:",x1,"y:",y1)
 
 def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
+    list=[r1,r2,r3]
+    list.sort()
     a=cal_distance(a1,b1,a2,b2)
     b=cal_distance(a1,b1,a3,b3)
-    c=cal_distance(a2,b2,a2,b2)
+    c=cal_distance(a2,b2,a3,b3)
+    if(list[2]==r1):
+        if(r2+a<=r1 or r3+b<=r1):
+            print("error")
+            return 0
+    elif(list[2]==r2):
+        if(r1+a<=r2 or r3+c<=r2):
+            print("error")
+            return 0
+    elif(list[2]==r3):
+        if(r1+b<=r3 or r2+c<=r3):
+            print("error")
+            return 0
+
     if(a<=r1+r2 and b<=r1+r3 and c<=r2+r3):
         first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
     elif(a<=r1+r2 and b>r1+r3 and c>r2+r3):
@@ -220,11 +235,13 @@ def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
         second_situation(a1,b1,r1,a3,b3,r3,a2,b2,r2)
     elif(a>r1+r2 and b>r1+r3 and c<=r2+r3):
         second_situation(a2,b2,r2,a3,b3,r3,a1,b1,r1)
+    else:
+        print("error")
+    return 0
 
-#예시
-first_situation(20,10,10,9,10,1,10,9,1)
 function(20,10,10,9,10,1,10,9,1)
 print("-----------------------")
-second_situation(0,3,1,0,4,1,5,3,1)
-function(0,3,1,0,4,1,5,3,1)
+function(9,10,1,10,9,1,20,10,10)
+print("-----------------------")
+function(10,9,1,9,10,1,20,10,10)
 print("-----------------------")
\ No newline at end of file

Server_CoAP/triangulation2.py

+import pymongo
+import math
+from pymongo import MongoClient
+
+def cal_distance(a1,b1,a2,b2):
+    return math.sqrt((a2-a1)*(a2-a1)+(b2-b1)*(b2-b1)) 
+
+def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
+    line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
+    meet1 = [[0,0],[0,0],[0,0]]
+    meet2 = [[0,0],[0,0],[0,0]]
+    meet_result = [[0,0],[0,0],[0,0]]
+    #첫번째 직선(1,2)
+    line_position[0][0]=-2*a1+2*a2
+    line_position[0][1]=-2*b1+2*b2
+    line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
+    #두번째 직선(1,3)
+    line_position[1][0]=-2*a1+2*a3
+    line_position[1][1]=-2*b1+2*b3
+    line_position[1][2]=(r1*r1-r3*r3)+(a3*a3-a1*a1)+(b3*b3-b1*b1)
+    #세번째 직선(2,3)
+    line_position[2][0]=-2*a2+2*a3
+    line_position[2][1]=-2*b2+2*b3
+    line_position[2][2]=(r2*r2-r3*r3)+(a3*a3-a2*a2)+(b3*b3-b2*b2)
+
+    #첫번째 직선의 교점
+    if(line_position[0][0]==0 and line_position[0][1]!=0):
+        meet1[0][1]=line_position[0][2]/line_position[0][1]
+        meet2[0][1]=meet1[0][1]
+        meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
+        meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
+        if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    elif(line_position[0][0]!=0 and line_position[0][1]==0):
+        meet1[0][0]=line_position[0][2]/line_position[0][0]
+        meet2[0][0]=meet1[0][0]
+        meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
+        meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
+        if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    else:
+        a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
+        b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
+        c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
+        meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+        meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+        meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+        meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+        if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    print("x1:",meet_result[0][0],"y1:",meet_result[0][1])
+
+    #두번째 직선의 교점
+    if(line_position[1][0]==0 and line_position[1][1]!=0):
+        meet1[1][1]=line_position[1][2]/line_position[1][1]
+        meet2[1][1]=meet1[0][1]
+        meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
+        meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))
+        if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+            meet_result[1][0]=meet2[1][0]
+            meet_result[1][1]=meet2[1][1]
+        else:
+            meet_result[1][0]=meet1[1][0]
+            meet_result[1][1]=meet1[1][1]
+    elif(line_position[1][0]!=0 and line_position[1][1]==0):
+        meet1[1][0]=line_position[1][2]/line_position[1][0]
+        meet2[1][0]=meet1[1][0]
+        meet1[1][1]=math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))+b1
+        meet2[1][1]=b1-math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))
+        if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+            meet_result[1][0]=meet2[1][0]
+            meet_result[1][1]=meet2[1][1]
+        else:
+            meet_result[1][0]=meet1[1][0]
+            meet_result[1][1]=meet1[1][1]
+    else:
+        a=1+((line_position[1][0]/line_position[1][1])*(line_position[1][0]/line_position[1][1]))
+        b=(-2*a1)+((-2*line_position[1][0]*line_position[1][2]) / (line_position[1][1]*line_position[1][1]))+((2*line_position[1][0]*b1)/line_position[1][1])
+        c=((line_position[1][2]/line_position[1][1])*(line_position[1][2]/line_position[1][1])) + ((-2*line_position[1][2]*b1)/line_position[1][1]) + b1*b1 - r1*r1 + a1*a1
+        meet1[1][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+        meet2[1][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+        meet1[1][1]=(-1*line_position[1][0]*meet1[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
+        meet2[1][1]=(-1*line_position[1][0]*meet2[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
+        if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+            meet_result[1][0]=meet2[1][0]
+            meet_result[1][1]=meet2[1][1]
+        else:
+            meet_result[1][0]=meet1[1][0]
+            meet_result[1][1]=meet1[1][1]
+    print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
+    #세번째 직선의 교점
+    if(line_position[2][0]==0 and line_position[2][1]!=0):
+        meet1[2][1]=line_position[2][2]/line_position[2][1]
+        meet2[2][1]=meet1[2][1]
+        meet1[2][0]=math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))+a2
+        meet2[2][0]=a2-math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))
+        if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+            meet_result[2][0]=meet2[2][0]
+            meet_result[2][1]=meet2[2][1]
+        else:
+            meet_result[2][0]=meet1[2][0]
+            meet_result[2][1]=meet1[2][1]
+    elif(line_position[2][0]!=0 and line_position[2][1]==0):
+        meet1[2][0]=line_position[2][2]/line_position[2][0]
+        meet2[2][0]=meet1[2][0]
+        meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
+        meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))
+        if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+            meet_result[2][0]=meet2[2][0]
+            meet_result[2][1]=meet2[2][1]
+        else:
+            meet_result[2][0]=meet1[2][0]
+            meet_result[2][1]=meet1[2][1]
+    else:
+        a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
+        b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b2/line_position[2][1])
+        c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b2/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
+        meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+        meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+        meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
+        meet2[2][1]=(-1*line_position[2][0]*meet2[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
+        if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+            meet_result[2][0]=meet2[2][0]
+            meet_result[2][1]=meet2[2][1]
+        else:
+            meet_result[2][0]=meet1[2][0]
+            meet_result[2][1]=meet1[2][1]
+    print("x3:",meet_result[2][0],"y3:",meet_result[2][1])
+
+    print("x:",(meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3,"/y:",(meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3)
+    return 0
+
+
+def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
+    line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
+    meet1 = [[0,0],[0,0],[0,0]]
+    meet2 = [[0,0],[0,0],[0,0]]
+    meet_result = [[0,0],[0,0],[0,0]]
+    #첫번째 직선(1,2)
+    line_position[0][0]=-2*a1+2*a2
+    line_position[0][1]=-2*b1+2*b2
+    line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
+    print(line_position[0])
+    #첫번째 직선의 교점
+    if(line_position[0][0]==0 and line_position[0][1]!=0):
+        meet1[0][1]=line_position[0][2]/line_position[0][1]
+        meet2[0][1]=meet1[0][1]
+        meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
+        meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
+        if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    elif(line_position[0][0]!=0 and line_position[0][1]==0):
+        meet1[0][0]=line_position[0][2]/line_position[0][0]
+        meet2[0][0]=meet1[0][0]
+        meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
+        meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
+        if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    else:
+        a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
+        b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
+        c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
+        print(a,b,c)
+        meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
+        meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
+        meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+        meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
+        print(meet1[0][0],meet1[0][1])
+        print(meet2[0][0],meet2[0][1])
+        print(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
+        print(cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
+        if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
+            meet_result[0][0]=meet2[0][0]
+            meet_result[0][1]=meet2[0][1]
+        else:
+            meet_result[0][0]=meet1[0][0]
+            meet_result[0][1]=meet1[0][1]
+    print("x:",meet_result[0][0],"y:",meet_result[0][1])
+
+#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
+#    a=2*(a1-a2)
+#    b=2*(b1-b2)
+#    c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
+#    d=2*(a2-a3)
+#    e=2*(b2-b3)
+#    f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
+#    y1=(f-((d*c) / a)) / (e-((b*d)/a))
+#    x1=(c-b*y1)/a
+#    print("x:",x1,"y:",y1)
+
+def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
+    list=[r1,r2,r3]
+    list.sort()
+    a=cal_distance(a1,b1,a2,b2)
+    b=cal_distance(a1,b1,a3,b3)
+    c=cal_distance(a2,b2,a3,b3)
+    if(list[2]==r1):
+        if(r2+a<=r1 or r3+b<=r1):
+            print("error")
+            return 0
+    elif(list[2]==r2):
+        if(r1+a<=r2 or r3+c<=r2):
+            print("error")
+            return 0
+    elif(list[2]==r3):
+        if(r1+b<=r3 or r2+c<=r3):
+            print("error")
+            return 0
+
+    if(a<=r1+r2 and b<=r1+r3 and c<=r2+r3):
+        first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
+    elif(a<=r1+r2 and b>r1+r3 and c>r2+r3):
+        second_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
+    elif(a>r1+r2 and b<=r1+r3 and c>r2+r3):
+        second_situation(a1,b1,r1,a3,b3,r3,a2,b2,r2)
+    elif(a>r1+r2 and b>r1+r3 and c<=r2+r3):
+        second_situation(a2,b2,r2,a3,b3,r3,a1,b1,r1)
+    else:
+        print("error")
+    return 0
+
+function(20,10,10,9,10,1,10,9,1)
+print("-----------------------")
+function(9,10,1,10,9,1,20,10,10)
+print("-----------------------")
+function(10,9,1,9,10,1,20,10,10)
+print("-----------------------")
\ No newline at end of file